Multifunctional Articulating Surgical Robot for NOTES

Chin, Wei Jian; Nakamura, Akiko; Head, Michael; Farritor, Shane; Olyenikov, Dmitry; Nelson, Carl A.; Seow, Chi Min

doi:10.1115/1.3590375

“…The workspace covers a volume of approximately 2.4 L, which overlaps about 90% of the human peritoneal cavity as shown in Ref. [16]. Adding the workspace of the bimanual arm (not analyzed in this paper), the workspace is expected to be sufficient for the ADM to properly locate the robot for any typical surgical work.…”

Section: Motor Housing As Shown Inmentioning

confidence: 99%

“…Based on our previous work [15,16], this paper presents a novel ADM containing two independent curvature sections for a bimanual, multifunctional NOTES manipulator. The ADM consists of an articulated snakelike linkage, motor housing, and an arm connector.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

Shen

¹

,

Warburton

²

,

Nelson

³

et al. 2014

Volume 5A: 38th Mechanisms and Robotics Conference

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This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

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“…In Refs. [15] and [16], a NOTES robot with an end effector carrying multiple tools tips guided by a steerable and shape lockable drive mechanism was presented.…”

Section: Introductionmentioning

confidence: 99%

“…Based on our previous work [15,16], this paper presents a novel ADM containing two independent curvature sections for a bimanual, multifunctional NOTES manipulator. The ADM consists of an articulated snakelike linkage, motor housing, and an arm connector.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

Shen

¹

,

Nelson

²

,

Warburton

³

et al. 2015

Journal of Mechanisms and Robotics

Self Cite

View full text Add to dashboard Cite

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

show abstract